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<div class="title">D:/Workspace/Arduino/prencar/ExtendedMove.cpp</div>  </div>
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<a href="_extended_move_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;<a class="code" href="_extended_move_8h.html">ExtendedMove.h</a>&quot;</span>
<a name="l00002"></a>00002 
<a name="l00003"></a>00003 <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a> <a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d" title="Static reference to the singleton object.">ExtendedMove::_instance</a>; 
<a name="l00004"></a>00004 <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a54bdfab5b9684ba2ede313e438d11611">ExtendedMove::_instanceCreated</a> = <span class="keyword">false</span>;
<a name="l00005"></a>00005 
<a name="l00010"></a><a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">00010</a> <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a>* <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">ExtendedMove::getInstance</a>()
<a name="l00011"></a>00011 {
<a name="l00012"></a>00012   <span class="keywordflow">if</span> ( !<a class="code" href="class_extended_move.html#a54bdfab5b9684ba2ede313e438d11611">_instanceCreated</a> ){
<a name="l00013"></a>00013     <a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d" title="Static reference to the singleton object.">_instance</a> = <a class="code" href="class_extended_move.html#a4bf87fc8690c78ea76464cc8d006f528">ExtendedMove</a>();
<a name="l00014"></a>00014     <a class="code" href="class_extended_move.html#a54bdfab5b9684ba2ede313e438d11611">_instanceCreated</a> = <span class="keyword">true</span>;
<a name="l00015"></a>00015 
<a name="l00016"></a>00016     <span class="comment">//do the configuration stuff so that a call to begin() from the outside of the</span>
<a name="l00017"></a>00017     <span class="comment">//class is not necessary</span>
<a name="l00018"></a>00018     <a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d" title="Static reference to the singleton object.">_instance</a>.<a class="code" href="class_extended_move.html#aef13add1eb55a57abf64adbf4ae5f149">begin</a>();
<a name="l00019"></a>00019   }
<a name="l00020"></a>00020   <span class="keywordflow">return</span> &amp;<a class="code" href="class_extended_move.html#a024e8f637662966bece3ae472feca23d" title="Static reference to the singleton object.">_instance</a>;
<a name="l00021"></a>00021 }
<a name="l00022"></a>00022 
<a name="l00023"></a><a class="code" href="class_extended_move.html#a4bf87fc8690c78ea76464cc8d006f528">00023</a> <a class="code" href="class_extended_move.html#a4bf87fc8690c78ea76464cc8d006f528">ExtendedMove::ExtendedMove</a>(){
<a name="l00024"></a>00024   <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a> = 0;
<a name="l00025"></a>00025   <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a> = <span class="keyword">false</span>;
<a name="l00026"></a>00026 }
<a name="l00027"></a>00027 
<a name="l00033"></a><a class="code" href="class_extended_move.html#aef13add1eb55a57abf64adbf4ae5f149">00033</a> <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#aef13add1eb55a57abf64adbf4ae5f149">ExtendedMove::begin</a>(){
<a name="l00034"></a>00034   <a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc" title="The reference to the serial communication class.">_com</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">Communication::getInstance</a>();
<a name="l00035"></a>00035   <a class="code" href="class_extended_move.html#a920b4f3eb82cd5d59a136f2e4a6d3be5" title="The reference to the move class to control the motors.">_move</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">Move::getInstance</a>();
<a name="l00036"></a>00036   <a class="code" href="class_extended_move.html#a10b4e2c0017fc427074934dae39b8971" title="The reference to the configuration class.">_conf</a> = <a class="code" href="class_extended_move.html#a8ba9c560726a121efa0c78f26780e46a">Configuration::getInstance</a>();
<a name="l00037"></a>00037 }
<a name="l00038"></a>00038 
<a name="l00044"></a><a class="code" href="class_extended_move.html#ab03bf2a16ad494c392c209d5c0b3b65d">00044</a> <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#ab03bf2a16ad494c392c209d5c0b3b65d">ExtendedMove::doJob</a>(){
<a name="l00045"></a>00045   <span class="keywordflow">if</span>(!<a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a>) <span class="keywordflow">return</span>;
<a name="l00046"></a>00046 
<a name="l00047"></a>00047   <span class="comment">//check the currently executed command if it&#39;s time to finish up and take the next one.</span>
<a name="l00048"></a>00048   <a class="code" href="struct_move_command.html">MoveCommand</a>* mc = <a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">getCurrentCommandInQueue</a>();
<a name="l00049"></a>00049   <span class="keywordflow">if</span>(millis() &gt; mc-&gt;<a class="code" href="struct_move_command.html#a418c23b406cdbd5a872caa5530b050ea" title="Will be set as soon as the execution of this command starts.">startedMillis</a> + mc-&gt;<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a>){
<a name="l00050"></a>00050     <span class="comment">//_com-&gt;send(--, millis());</span>
<a name="l00051"></a>00051     <span class="comment">//Are no more commands available?</span>
<a name="l00052"></a>00052     <span class="keywordflow">if</span>(<a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a> == <a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">_currentCommandQueueSize</a> - 1){
<a name="l00053"></a>00053       <a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(80, <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>);
<a name="l00054"></a>00054       <a class="code" href="class_extended_move.html#a920b4f3eb82cd5d59a136f2e4a6d3be5" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a237261f2dd8fc115129f0ba998f13183">performFastStop</a>();
<a name="l00055"></a>00055       <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a> = <span class="keyword">false</span>;
<a name="l00056"></a>00056       <span class="keywordflow">return</span>;
<a name="l00057"></a>00057     }
<a name="l00058"></a>00058     <a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a>++;
<a name="l00059"></a>00059     <a class="code" href="class_extended_move.html#adfe6e7de87eab16e9a85ad5434819fee">executeCommand</a>(<a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">getCurrentCommandInQueue</a>());
<a name="l00060"></a>00060   }
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 
<a name="l00068"></a><a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">00068</a> <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">ExtendedMove::startCurrentQueue</a>(<span class="keywordtype">int</span> commandQueueSize){
<a name="l00069"></a>00069   <span class="keywordtype">int</span> parameters[2];
<a name="l00070"></a>00070   <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>++;
<a name="l00071"></a>00071   parameters[0] = <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>;
<a name="l00072"></a>00072   <a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">_currentCommandQueueSize</a> = commandQueueSize;
<a name="l00073"></a>00073   parameters[1] = <a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">_currentCommandQueueSize</a>;
<a name="l00074"></a>00074 
<a name="l00075"></a>00075   <a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a> = 0;
<a name="l00076"></a>00076   <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a> = <span class="keyword">true</span>;
<a name="l00077"></a>00077   <span class="comment">//start with the first command</span>
<a name="l00078"></a>00078   <a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(82, parameters, 2);
<a name="l00079"></a>00079   <a class="code" href="class_extended_move.html#adfe6e7de87eab16e9a85ad5434819fee">executeCommand</a>(<a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">getCurrentCommandInQueue</a>());
<a name="l00080"></a>00080   <span class="keywordflow">return</span> <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>;
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082 
<a name="l00086"></a><a class="code" href="class_extended_move.html#adfe6e7de87eab16e9a85ad5434819fee">00086</a> <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#adfe6e7de87eab16e9a85ad5434819fee">ExtendedMove::executeCommand</a>(<a class="code" href="struct_move_command.html">MoveCommand</a>* mc){
<a name="l00087"></a>00087   <span class="keywordtype">int</span> parameters[4];
<a name="l00088"></a>00088   parameters[0] = <a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a>;
<a name="l00089"></a>00089   parameters[1] = <a class="code" href="class_extended_move.html#a343c183651181db5fb85ed4084d9a7a2">_currentCommandQueueSize</a>;
<a name="l00090"></a>00090   parameters[2] = <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>;
<a name="l00091"></a>00091   parameters[3] = mc-&gt;<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a>;
<a name="l00092"></a>00092   <a class="code" href="class_extended_move.html#a1220d0c15a28d8d5e2baf32b02ad33bc" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(81, parameters, 4);
<a name="l00093"></a>00093   <a class="code" href="class_extended_move.html#a920b4f3eb82cd5d59a136f2e4a6d3be5" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a9c5dc5c3a98abece0c2f40085c3601be">controlMotors</a>(mc-&gt;<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a>, mc-&gt;<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a>, mc-&gt;<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a>, mc-&gt;<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a>);
<a name="l00094"></a>00094   mc-&gt;<a class="code" href="struct_move_command.html#a418c23b406cdbd5a872caa5530b050ea" title="Will be set as soon as the execution of this command starts.">startedMillis</a> = millis();
<a name="l00095"></a>00095   <span class="comment">//_com-&gt;send(--, millis());</span>
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 
<a name="l00101"></a><a class="code" href="class_extended_move.html#a9bd37ba3d8f98170dd33c8726934735a">00101</a> <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a2d7b6db52a2c01d73e245c8648bdb5d6">ExtendedMove::isExecutionInProcess</a>(<span class="keywordtype">int</span> queueId){
<a name="l00102"></a>00102   <span class="keywordflow">if</span>(queueId != <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>) <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00103"></a>00103   <span class="keywordflow">return</span> <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a>;
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 
<a name="l00109"></a><a class="code" href="class_extended_move.html#a2d7b6db52a2c01d73e245c8648bdb5d6">00109</a> <span class="keywordtype">boolean</span> <a class="code" href="class_extended_move.html#a2d7b6db52a2c01d73e245c8648bdb5d6">ExtendedMove::isExecutionInProcess</a>(){
<a name="l00110"></a>00110   <span class="keywordflow">return</span> <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a>;
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112 
<a name="l00116"></a><a class="code" href="class_extended_move.html#af44fd7e191b2484d1b70450835b43604">00116</a> <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#af44fd7e191b2484d1b70450835b43604">ExtendedMove::getCurrentCommandQueueId</a>(){
<a name="l00117"></a>00117   <span class="keywordflow">return</span> <a class="code" href="class_extended_move.html#acd3af4d980730abd98da550fbd3c5333" title="Id of the current executed command queue (will be increased each time a new command arrives)...">_currentCommandQueueId</a>;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 
<a name="l00123"></a><a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">00123</a> <a class="code" href="struct_move_command.html">MoveCommand</a>* <a class="code" href="class_extended_move.html#a80ce42b3578e4fa17b6b2e3a05a70054">ExtendedMove::getCurrentCommandInQueue</a>(){
<a name="l00124"></a>00124   <span class="keywordflow">return</span> &amp;<a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>[<a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a>];
<a name="l00125"></a>00125 }
<a name="l00129"></a><a class="code" href="class_extended_move.html#a27d912c36366495cd3b6b75f70b2b187">00129</a> <span class="keywordtype">int</span> <a class="code" href="class_extended_move.html#a27d912c36366495cd3b6b75f70b2b187">ExtendedMove::getCurrentCommandIndexInQueue</a>(){
<a name="l00130"></a>00130   <span class="keywordflow">return</span> <a class="code" href="class_extended_move.html#a778375b1b506e93fb882cafd2ccf5b76" title="Index of command that is currently in execution.">_currentCommandIndexInQueue</a>;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132 
<a name="l00136"></a><a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">00136</a> <span class="keywordtype">void</span> <a class="code" href="class_extended_move.html#ae80076eb8ea7ea00e7563e4bbf4657b6">ExtendedMove::stopCurrentQueue</a>(){
<a name="l00137"></a>00137   <a class="code" href="class_extended_move.html#a48469d3672fb0e89c02c81cc725528ff" title="Set to false if the last queue has been executed fully.">_queueExecutionInProgress</a> = <span class="keyword">false</span>;
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139 
<a name="l00140"></a>00140 
<a name="l00141"></a>00141 
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